Can Users Specify Driving Speed? Bench2Drive-Speed: Benchmark and Baselines for Desired-Speed Conditioned Autonomous Driving
End-to-end autonomous driving (E2E-AD) has achieved remarkable progress. However, one practical and useful function has been long overlooked: users may wish to customize the desired speed of the policy or specify whether to allow the autonomous vehicle to overtake. To bridge this gap, we present Bench2Drive-Speed, a benchmark with metrics, dataset, and baselines for desired-speed conditioned autonomous driving. We introduce explicit inputs of users' desired target-speed and overtake/follow instructions to driving policy models. We design quantitative metrics, including Speed-Adherence Score and Overtake Score, to measure how faithfully policies follow user specifications, while remaining ...
| Authors | Yuqian Shao, Xiaosong Jia, Langechuan Liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 26 March 2026 |
| Last updated at source | 26 March 2026 |
Models and datasets referencing this paper
- rethinklab/Bench2Drive-SpeedDataset
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